Vision-aided inertial navigation system for robotic mobile mapping

A mapping system by vision-aided inertial navigation was developed for areas where GNSS signals are unreachable. In this framework, a methodology on the integration of vision and inertial sensors is presented, analysed and tested. The system employs the method of "SLAM: Simultaneous Localisation And MappingW where the only external input available to the system at the beginning of the mapping mission is a number of features with known coordinates.